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<div class="header">
  <div class="summary">
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1recognition_1_1_hough_space3_d-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::recognition::HoughSpace3D类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html" title="HoughSpace3D is a 3D voting space. Cast votes can be interpolated in order to better deal with approx...">HoughSpace3D</a> is a 3D voting space. Cast votes can be interpolated in order to better deal with approximations introduced by bin quantization. A weight can also be associated with each vote.  
 <a href="classpcl_1_1recognition_1_1_hough_space3_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="hough__3d_8h_source.html">hough_3d.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a8ec9a3c8ce71066918e4311df5f1fcbc"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a8ec9a3c8ce71066918e4311df5f1fcbc">HoughSpace3D</a> (const Eigen::Vector3d &amp;min_coord, const Eigen::Vector3d &amp;bin_size, const Eigen::Vector3d &amp;max_coord)</td></tr>
<tr class="memdesc:a8ec9a3c8ce71066918e4311df5f1fcbc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a8ec9a3c8ce71066918e4311df5f1fcbc">更多...</a><br /></td></tr>
<tr class="separator:a8ec9a3c8ce71066918e4311df5f1fcbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02883fef1635f8acff4ec0eb9734ccb8"><td class="memItemLeft" align="right" valign="top"><a id="a02883fef1635f8acff4ec0eb9734ccb8"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a02883fef1635f8acff4ec0eb9734ccb8">reset</a> ()</td></tr>
<tr class="memdesc:a02883fef1635f8acff4ec0eb9734ccb8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reset all cast votes. <br /></td></tr>
<tr class="separator:a02883fef1635f8acff4ec0eb9734ccb8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5291aa83dd66fab19878ac47388c7ddf"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a5291aa83dd66fab19878ac47388c7ddf">vote</a> (const Eigen::Vector3d &amp;single_vote_coord, double weight, int voter_id)</td></tr>
<tr class="memdesc:a5291aa83dd66fab19878ac47388c7ddf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Casting a vote for a given position in the Hough space.  <a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a5291aa83dd66fab19878ac47388c7ddf">更多...</a><br /></td></tr>
<tr class="separator:a5291aa83dd66fab19878ac47388c7ddf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9edb239fdfeccede06621d455bf683dd"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a9edb239fdfeccede06621d455bf683dd">voteInt</a> (const Eigen::Vector3d &amp;single_vote_coord, double weight, int voter_id)</td></tr>
<tr class="memdesc:a9edb239fdfeccede06621d455bf683dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vote for a given position in the 3D space. The weight is interpolated between the bin pointed by single_vote_coord and its neighbors.  <a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a9edb239fdfeccede06621d455bf683dd">更多...</a><br /></td></tr>
<tr class="separator:a9edb239fdfeccede06621d455bf683dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49c4530975900e5d9d5c882858ca56fd"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a49c4530975900e5d9d5c882858ca56fd">findMaxima</a> (double min_threshold, std::vector&lt; double &gt; &amp;maxima_values, std::vector&lt; std::vector&lt; int &gt; &gt; &amp;maxima_voter_ids)</td></tr>
<tr class="memdesc:a49c4530975900e5d9d5c882858ca56fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the bins with most votes.  <a href="classpcl_1_1recognition_1_1_hough_space3_d.html#a49c4530975900e5d9d5c882858ca56fd">更多...</a><br /></td></tr>
<tr class="separator:a49c4530975900e5d9d5c882858ca56fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ac81d49cf5a916c3c7d39d96dff01826f"><td class="memItemLeft" align="right" valign="top"><a id="ac81d49cf5a916c3c7d39d96dff01826f"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#ac81d49cf5a916c3c7d39d96dff01826f">min_coord_</a></td></tr>
<tr class="memdesc:ac81d49cf5a916c3c7d39d96dff01826f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum coordinate in the Hough Space. <br /></td></tr>
<tr class="separator:ac81d49cf5a916c3c7d39d96dff01826f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add6880af75dcef7fff2b94a1a7de6747"><td class="memItemLeft" align="right" valign="top"><a id="add6880af75dcef7fff2b94a1a7de6747"></a>
Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#add6880af75dcef7fff2b94a1a7de6747">bin_size_</a></td></tr>
<tr class="memdesc:add6880af75dcef7fff2b94a1a7de6747"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of each bin in the Hough Space. <br /></td></tr>
<tr class="separator:add6880af75dcef7fff2b94a1a7de6747"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a28389f1e0298086a023af7b97b1a6f62"><td class="memItemLeft" align="right" valign="top"><a id="a28389f1e0298086a023af7b97b1a6f62"></a>
Eigen::Vector3i&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a28389f1e0298086a023af7b97b1a6f62">bin_count_</a></td></tr>
<tr class="memdesc:a28389f1e0298086a023af7b97b1a6f62"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of bins for each dimension. <br /></td></tr>
<tr class="separator:a28389f1e0298086a023af7b97b1a6f62"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a995f6b1e6d5bbabb0d6d9fd445f921"><td class="memItemLeft" align="right" valign="top"><a id="a1a995f6b1e6d5bbabb0d6d9fd445f921"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1a995f6b1e6d5bbabb0d6d9fd445f921">partial_bin_products_</a> [4]</td></tr>
<tr class="memdesc:a1a995f6b1e6d5bbabb0d6d9fd445f921"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used to access hough_space_ as if it was a matrix. <br /></td></tr>
<tr class="separator:a1a995f6b1e6d5bbabb0d6d9fd445f921"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1ea4505f978658663fabae1f344fe5fb"><td class="memItemLeft" align="right" valign="top"><a id="a1ea4505f978658663fabae1f344fe5fb"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a1ea4505f978658663fabae1f344fe5fb">total_bins_count_</a></td></tr>
<tr class="memdesc:a1ea4505f978658663fabae1f344fe5fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total number of bins in the Hough Space. <br /></td></tr>
<tr class="separator:a1ea4505f978658663fabae1f344fe5fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a535f20e1abeaa902fd942d4e1a74604c"><td class="memItemLeft" align="right" valign="top"><a id="a535f20e1abeaa902fd942d4e1a74604c"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#a535f20e1abeaa902fd942d4e1a74604c">hough_space_</a></td></tr>
<tr class="memdesc:a535f20e1abeaa902fd942d4e1a74604c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The Hough Space. <br /></td></tr>
<tr class="separator:a535f20e1abeaa902fd942d4e1a74604c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aded7b5ebab3f5b3ffb8a86e34eabe980"><td class="memItemLeft" align="right" valign="top"><a id="aded7b5ebab3f5b3ffb8a86e34eabe980"></a>
boost::unordered_map&lt; int, std::vector&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html#aded7b5ebab3f5b3ffb8a86e34eabe980">voter_ids_</a></td></tr>
<tr class="memdesc:aded7b5ebab3f5b3ffb8a86e34eabe980"><td class="mdescLeft">&#160;</td><td class="mdescRight">List of voters for each bin. <br /></td></tr>
<tr class="separator:aded7b5ebab3f5b3ffb8a86e34eabe980"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1recognition_1_1_hough_space3_d.html" title="HoughSpace3D is a 3D voting space. Cast votes can be interpolated in order to better deal with approx...">HoughSpace3D</a> is a 3D voting space. Cast votes can be interpolated in order to better deal with approximations introduced by bin quantization. A weight can also be associated with each vote. </p>
<dl class="section author"><dt>作者</dt><dd>Federico Tombari (original), Tommaso Cavallari (PCL port) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="a8ec9a3c8ce71066918e4311df5f1fcbc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8ec9a3c8ce71066918e4311df5f1fcbc">&#9670;&nbsp;</a></span>HoughSpace3D()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW pcl::recognition::HoughSpace3D::HoughSpace3D </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>min_coord</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>bin_size</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>max_coord</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_coord</td><td>minimum (x,y,z) coordinates of the Hough space </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">bin_size</td><td>size of each bing of the Hough space. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_coord</td><td>maximum (x,y,z) coordinates of the Hough space. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a49c4530975900e5d9d5c882858ca56fd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a49c4530975900e5d9d5c882858ca56fd">&#9670;&nbsp;</a></span>findMaxima()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">double pcl::recognition::HoughSpace3D::findMaxima </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>min_threshold</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; double &gt; &amp;&#160;</td>
          <td class="paramname"><em>maxima_values</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; std::vector&lt; int &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>maxima_voter_ids</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Find the bins with most votes. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_threshold</td><td>the minimum number of votes to be included in a bin in order to have its value returned. If set to a value between -1 and 0 the Hough space maximum_vote is found and the returned values are all the votes greater than -min_threshold * maximum_vote. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">maxima_values</td><td>the list of Hough Space bin values greater than min_threshold. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">maxima_voter_ids</td><td>for each value returned, a list of the voter ids who cast a vote in that position. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>The min_threshold used, either set by the user or found by this method. </dd></dl>

</div>
</div>
<a id="a5291aa83dd66fab19878ac47388c7ddf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5291aa83dd66fab19878ac47388c7ddf">&#9670;&nbsp;</a></span>vote()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int pcl::recognition::HoughSpace3D::vote </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>single_vote_coord</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>weight</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>voter_id</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Casting a vote for a given position in the Hough space. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">single_vote_coord</td><td>coordinates of the vote being cast (in absolute coordinates) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">weight</td><td>weight associated with the vote. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">voter_id</td><td>the numeric id of the voter. Useful to trace back the voting correspondence, if the vote is returned by findMaxima as part of a maximum of the Hough Space. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the index of the bin in which the vote has been cast. </dd></dl>

</div>
</div>
<a id="a9edb239fdfeccede06621d455bf683dd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9edb239fdfeccede06621d455bf683dd">&#9670;&nbsp;</a></span>voteInt()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int pcl::recognition::HoughSpace3D::voteInt </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Vector3d &amp;&#160;</td>
          <td class="paramname"><em>single_vote_coord</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>weight</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>voter_id</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Vote for a given position in the 3D space. The weight is interpolated between the bin pointed by single_vote_coord and its neighbors. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">single_vote_coord</td><td>coordinates of the vote being cast. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">weight</td><td>weight associated with the vote. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">voter_id</td><td>the numeric id of the voter. Useful to trace back the voting correspondence, if the vote is returned by findMaxima as a part of a maximum of the Hough Space. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the index of the bin in which the vote has been cast. </dd></dl>

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